[quote='Sina' pid='1090' dateline='1295049788']
I did a simulation with Turbo PMAC2 and here is what you need to setup (disregard the 1st motor settings since this is how I simulated your external servo pack)
Wire the emulated quadrature to channel 1 of ACC-24E2/ACC-24E2A.
Setup your encoder conversion table to read the quadrature input. This is the default setting:
[code]
I8000=$78200
I103=$3501
I104=$3501
[/code]
Which is 1/T extension of quadrature encoder for 1st channel in 1st ACC-24E2/ACC-24E2A.
Wire the pulse and direction out from the ACC-24E2A channel 1 encoder connector (jumper E1A, E1B, E1C, E1D to enable pulse and direction output on pins 9 to 12 of Terminal block and pins 1,2,9,10 of DB15 option)
Set the output mode of c output to pulse and direction by setting
[code]
I7mn0=3
[/code]
point Ix02 of motor to c-output of channel:
[code]
I102=$78204 (for channel 1)
[/code]
Now you should be able to tune the motor. Depending on your servo clock, the PID gains will be different. look at the example below:
[code]
I100=1
I102=$78204
I124=$20001
I130=32768
I131=0
I132=321
I133=0
I134=1
I135=360
I7216=3
I7210=8
I105=$3502 //slave to second channel
I106=1 //slave mode: offset
/*----------------------------------------*/
I200=1
I224=$20001
I203=$3501 //looking at same encoder as motor 1 which is simulating an external servopack
//in your setup it should look at ECT which reads the quadrature data from servopack
I204=$3502
I202=$7820C // PFM output on 2nd channel of GATE
I7226=3 // set output mode to PFM on output C, you should wire this one to your servopack
I7220=8 // internal pulse and direction
I230=8192
I231=0
I232=1280
I233=0
I234=1
I235=0
/*---------------------------------------*/
[/code]
[/quote]